Added MrModule and fixed ImageManagementModule

AutonomousCarProject · Jul 26, 2018 · eb8e01c · eb8e01c
1 parent 973ecdc
commit eb8e01c
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Showing 9 changed files with 547 additions and 296 deletions.
diff --git a/.idea/workspace.xml b/.idea/workspace.xml
diff --git a/src/main/java/com/apw/ImageManagement/ImageManager.java b/src/main/java/com/apw/ImageManagement/ImageManager.java
@@ -9,16 +9,16 @@
 import java.lang.invoke.LambdaMetafactory;
 import java.util.Arrays;
 
+@Deprecated
 public class ImageManager {
 
     int nrows, ncols;
-    private ImagePicker picker;
+    ImagePicker picker;
     private byte mono[];
     private byte simple[];
     private int rgb[];
 
     public ImageManager(FlyCamera trakcam) {
-        picker = new ImagePicker(trakcam, 30);
         nrows = picker.getNrows();
         ncols = picker.getNcols();
         mono = new byte[nrows * ncols];

diff --git a/src/main/java/com/apw/apw3/DriverCons.java b/src/main/java/com/apw/apw3/DriverCons.java
@@ -44,7 +44,7 @@ public abstract class DriverCons { // TrakSim constant parameters
             D_StartInCalibrate = false, // T: use this to calibrate servo limits
             D_Log_Draw = false, D_Log_Log = false, D_Fax_Log = false,
             D_Mini_Log = false, D_NoisyMap = true,
-            D_DrawOnSides = true, D_DrawPredicted = true, D_DrawCurrent = true; //Drive lines.
+            D_DrawOnSides = true, D_DrawPredicted = true, D_DrawCurrent = true; //MrModule lines.
 
     public static final int
 

diff --git a/src/main/java/com/apw/carcontrol/CarControl.java b/src/main/java/com/apw/carcontrol/CarControl.java
@@ -46,4 +46,5 @@ public interface CarControl {
      * @param angle The angle to set the car's angle to or increment it by.
      */
     void steer(boolean absolute, int angle);
+
 }
diff --git a/src/main/java/com/apw/carcontrol/ImageManagementModule.java b/src/main/java/com/apw/carcontrol/ImageManagementModule.java
@@ -16,23 +16,18 @@
 public class ImageManagementModule implements Module {
 
     private int viewType = 1;
-    private int width, height;
     private int ncols, nrows;
     private int[] imagePixels;
-    private ImagePicker picker;
     private byte mono[];
     private byte simple[];
     private int rgb[];
 
-
-    public ImageManagementModule(FlyCamera trakcam) {
-        picker = new ImagePicker(trakcam, 30);
-        nrows = picker.getNrows();
-        ncols = picker.getNcols();
+    public ImageManagementModule(int nrows, int ncols) {
+        this.nrows = nrows;
+        this.ncols = ncols;
         mono = new byte[nrows * ncols];
         simple = new byte[nrows * ncols];
         rgb = new int[nrows * ncols];
-
     }
 
     public int getNrows() {
@@ -51,22 +46,21 @@ public void setNcols(int ncols) {
         this.ncols = ncols;
     }
 
-
     /*Serves monochrome raster of camera feed
      * Formatted in 1D array of bytes*/
-    public byte[] getMonochromeRaster() {
-        ImageManipulator.convertToMonochromeRaster(picker.getPixels(), mono, nrows, ncols);
+    public byte[] getMonochromeRaster(byte[] pixels) {
+        ImageManipulator.convertToMonochromeRaster(pixels, mono, nrows, ncols);
         return mono;
 
     }
-    public byte[] getMonochrome2Raster(){
-        ImageManipulator.convertToMonochrome2Raster(picker.getPixels(), mono, nrows, ncols);
+    public byte[] getMonochrome2Raster(byte[] pixels){
+        ImageManipulator.convertToMonochrome2Raster(pixels, mono, nrows, ncols);
         return mono;
     }
 
-    public byte[] getBlackWhiteRaster() {
+    public byte[] getBlackWhiteRaster(byte[] pixels) {
 
-        ImageManipulator.convertToBlackWhiteRaster(picker.getPixels(), mono, nrows, ncols);
+        ImageManipulator.convertToBlackWhiteRaster(pixels, mono, nrows, ncols);
         return mono;
 
     }
@@ -79,46 +73,46 @@ public byte[] getBlackWhiteRaster() {
      * 4 = GREY
      * 5 = BLACK
      */
-    public byte[] getSimpleColorRaster() {
+    public byte[] getSimpleColorRaster(byte[] pixels) {
 
-        ImageManipulator.convertToSimpleColorRaster(picker.getPixels(), simple, nrows, ncols);
+        ImageManipulator.convertToSimpleColorRaster(pixels, simple, nrows, ncols);
         return simple;
 
 
     }
 
-    public int[] getRGBRaster() {
+    public int[] getRGBRaster(byte[] pixels) {
 
-        ImageManipulator.convertToRGBRaster(picker.getPixels(), rgb, nrows, ncols);
+        ImageManipulator.convertToRGBRaster(pixels, rgb, nrows, ncols);
         return rgb;
 
     }
 
-    public int[] getSimpleRGBRaster() {
+    public int[] getSimpleRGBRaster(byte[] pixels) {
 
-        ImageManipulator.convertToSimpleColorRaster(picker.getPixels(), simple, nrows, ncols);
+        ImageManipulator.convertToSimpleColorRaster(pixels, simple, nrows, ncols);
         ImageManipulator.convertSimpleToRGB(simple, rgb, simple.length);
         return rgb;
 
     }
 
-    public int[] getBWRGBRaster() {
+    public int[] getBWRGBRaster(byte[] pixels) {
 
-        ImageManipulator.convertToBlackWhiteRaster(picker.getPixels(), mono, nrows, ncols);
+        ImageManipulator.convertToBlackWhiteRaster(pixels, mono, nrows, ncols);
         ImageManipulator.convertBWToRGB(mono, rgb, mono.length);
         return rgb;
 
     }
 
-    public int[] getMonoRGBRaster() {
+    public int[] getMonoRGBRaster(byte[] pixels) {
 
-        ImageManipulator.convertToMonochromeRaster(picker.getPixels(), mono, nrows, ncols);
+        ImageManipulator.convertToMonochromeRaster(pixels, mono, nrows, ncols);
         ImageManipulator.convertMonotoRGB(mono, rgb, mono.length);
         return rgb;
 
     }
-    public int[] getMonoRGB2Raster() {
-        ImageManipulator.convertToMonochromeRaster(picker.getPixels(), mono, nrows, ncols);
+    public int[] getMonoRGB2Raster(byte[] pixels) {
+        ImageManipulator.convertToMonochromeRaster(pixels, mono, nrows, ncols);
         ImageManipulator.convertMonotoRGB(mono, rgb, mono.length);
         return rgb;
     }
@@ -133,19 +127,19 @@ public void update(CarControl control) {
         imagePixels = null;
         switch(viewType) {
             case 1:
-                imagePixels = getRGBRaster();
+                imagePixels = getRGBRaster(control.getRecentCameraImage());
                 break;
             case 2:
-                imagePixels = getMonoRGBRaster();
+                imagePixels = getMonoRGBRaster(control.getRecentCameraImage());
                 break;
             case 3:
-                imagePixels = getSimpleRGBRaster();
+                imagePixels = getSimpleRGBRaster(control.getRecentCameraImage());
                 break;
             case 4:
-                imagePixels = getBWRGBRaster();
+                imagePixels = getBWRGBRaster(control.getRecentCameraImage());
                 break;
             case 5:
-                imagePixels = getMonoRGB2Raster();
+                imagePixels = getMonoRGB2Raster(control.getRecentCameraImage());
                 break;
             default:
                 throw new IllegalStateException("No image management viewType: " + viewType);

diff --git a/src/main/java/com/apw/carcontrol/MrModule.java b/src/main/java/com/apw/carcontrol/MrModule.java
@@ -0,0 +1,68 @@
+package com.apw.carcontrol;
+
+import javax.swing.*;
+import java.awt.image.BufferedImage;
+import java.util.ArrayList;
+import java.util.concurrent.Executors;
+import java.util.concurrent.ScheduledExecutorService;
+import java.util.concurrent.TimeUnit;
+
+public class MrModule extends JFrame implements Runnable {
+
+    private ScheduledExecutorService executorService;
+    private ArrayList<Module> modules;
+    private TrakSimControl trakSimControl;
+    private BufferedImage displayImage;
+
+    private final int width = 1920;
+    private final int height = 1080;
+
+    private MrModule() {
+        init();
+        setupWindow();
+        createModules();
+    }
+
+    private void init() {
+        executorService = Executors.newSingleThreadScheduledExecutor();
+        displayImage = new BufferedImage(width, height, BufferedImage.TYPE_INT_RGB);
+
+        trakSimControl = new TrakSimControl();
+        modules = new ArrayList<>();
+    }
+
+    private void setupWindow() {
+        executorService.scheduleAtFixedRate(this, 0, 1000 / 60, TimeUnit.MILLISECONDS);
+
+        setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE);
+        setSize(width, height);
+        setVisible(true);
+    }
+
+    private void createModules() {
+        modules.add(new ImageManagementModule(width, height));
+        modules.add(new SpeedControlModule());
+        modules.add(new SteeringModule());
+    }
+
+    private void update() {
+        trakSimControl.readCameraImage();
+        for (Module module : modules)
+            module.update(trakSimControl);
+    }
+
+    private void paint() {
+        for (Module module : modules)
+            module.paint(trakSimControl, displayImage);
+    }
+
+    @Override
+    public void run() {
+        update();
+        paint();
+    }
+
+    public static void main(String[] args) {
+        new MrModule();
+    }
+}
diff --git a/src/main/java/com/apw/carcontrol/SpeedControlModule.java b/src/main/java/com/apw/carcontrol/SpeedControlModule.java
@@ -0,0 +1,15 @@
+package com.apw.carcontrol;
+
+import java.awt.image.BufferedImage;
+
+public class SpeedControlModule implements Module {
+    @Override
+    public void update(CarControl control) {
+
+    }
+
+    @Override
+    public void paint(CarControl control, BufferedImage image) {
+
+    }
+}
diff --git a/src/main/java/com/apw/carcontrol/SteeringModule.java b/src/main/java/com/apw/carcontrol/SteeringModule.java
@@ -0,0 +1,15 @@
+package com.apw.carcontrol;
+
+import java.awt.image.BufferedImage;
+
+public class SteeringModule implements Module {
+    @Override
+    public void update(CarControl control) {
+
+    }
+
+    @Override
+    public void paint(CarControl control, BufferedImage image) {
+
+    }
+}
diff --git a/src/main/java/com/apw/carcontrol/TrakSimControl.java b/src/main/java/com/apw/carcontrol/TrakSimControl.java
@@ -7,7 +7,7 @@
 
 import javax.swing.JFrame;
 
-public class TrakSimControl extends JFrame implements CarControl {
+public class TrakSimControl implements CarControl {
     private SimCamera cam;
     private Arduino driveSys;